Joint-level responses to counteract perturbations scale with perturbation magnitude and direction

Mark Vlutters*, Edwin H.F. van Asseldonk, Herman van der Kooij

*Corresponding author for this work

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

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    To realize a lower extremity exoskeleton that can provide balance assistance in a natural way, an understanding of human balance control is a necessity. In this study, we investigated how the angle, torque and power of the ankle, knee and hip joints changed in response to balance perturbations during walking. Nine healthy young adults walked on an instrumented treadmill and received pelvis perturbations of various magnitudes and directions at the instance of toe-off right. An open source musculoskeletal modeling package (OpenSim) was used to perform inverse kinematics and inverse dynamics. Subjects modulated the ankle torque in the (left) stance foot with the magnitude and direction of the perturbation. Also in gait phases following foot placement, subjects addressed ankle torques to mitigate the remaining effects of the perturbation. The results presented here support the use of ankle actuation in lower extremity orthoses for natural and cooperative balance control.

    Original languageEnglish
    Title of host publicationWearable Robotics: Challenges and Trends
    Subtitle of host publicationProceedings of the 2nd International Symposium on Wearable Robotics, WeRob2016, October 18-21, 2016, Segovia, Spain
    EditorsJose gonzalez-Vargas, Jaime Ibanez, Jose L. Contreras-Vidal, Herman van der Kooij, Jose Luis Pons
    Number of pages4
    ISBN (Electronic)978-3-319-46532-6
    ISBN (Print)978-3-319-46531-9
    Publication statusPublished - 2017
    Event2nd International Symposium on Wearable Robotics, WeRob 2016 - La Granja, Spain
    Duration: 18 Oct 201621 Oct 2016
    Conference number: 2

    Publication series

    NameBiosystems and Biorobotics
    ISSN (Print)21953562
    ISSN (Electronic)21953570


    Conference2nd International Symposium on Wearable Robotics, WeRob 2016
    Abbreviated titleWeRob
    CityLa Granja
    Internet address

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